#ifndef __TASK_H 
#define __TASK_H 

#include "system.h"
#include "mpu6050.h"
#include "inv_mpu.h"
#include "mpu_exti.h"
#include "motor.h"
#include "usart.h"
#include "math.h"
#include "data.h"

#define LIMIT(VAL,MAX,MIN)	{if(VAL>MAX)VAL=MAX;if(VAL<MIN)VAL=MIN;}

void task_ctrl(void);
void set_pos(int x,int y);
void run_line(int radius,float angle);

#endif 





